TY - GEN
T1 - Development of a paddling type of microrobot for biomedical application
AU - Pan, Qinxue
AU - Guo, Shuxiang
AU - Li, Desheng
PY - 2009
Y1 - 2009
N2 - In this paper, we aim at a paddling type of microrobot that can move in human organs such as intestines, even blood vessels as an assumption has a great potential application for microsurgery. Based on our researches, the structure of the paddling microrobot has been designed in this paper. By applying the alternate magnetic field, the paddling of developed microrobot can be manipulated with the frequency of input current. And also, the motion mechanism, and characteristic evaluation of the microrobot have been discussed. Then, in order to obtain the high propulsive force and good balance, we improved the structure of the paddling microrobot with spiral motion. The spiral mechanisms were connected to the front and end of the body. Experimental results indicate the prototype of the leg has a maximum displacement of 3.7cm, the spiral motion can realize moving speed of 58mm/s and the rotating speed of 87rad/s, respectively. The experimental results also show that the microrobot has some advantages such as the rapid response, moving stability, operability with wireless. It will play an important role in both industrial and medical applications.
AB - In this paper, we aim at a paddling type of microrobot that can move in human organs such as intestines, even blood vessels as an assumption has a great potential application for microsurgery. Based on our researches, the structure of the paddling microrobot has been designed in this paper. By applying the alternate magnetic field, the paddling of developed microrobot can be manipulated with the frequency of input current. And also, the motion mechanism, and characteristic evaluation of the microrobot have been discussed. Then, in order to obtain the high propulsive force and good balance, we improved the structure of the paddling microrobot with spiral motion. The spiral mechanisms were connected to the front and end of the body. Experimental results indicate the prototype of the leg has a maximum displacement of 3.7cm, the spiral motion can realize moving speed of 58mm/s and the rotating speed of 87rad/s, respectively. The experimental results also show that the microrobot has some advantages such as the rapid response, moving stability, operability with wireless. It will play an important role in both industrial and medical applications.
KW - Biomedical application
KW - In-pipe
KW - Magnet
KW - Micromechanism
KW - Microrobot
KW - Paddling structure
UR - https://www.scopus.com/pages/publications/77951444664
U2 - 10.1109/ROBIO.2009.5420832
DO - 10.1109/ROBIO.2009.5420832
M3 - Conference contribution
AN - SCOPUS:77951444664
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 888
EP - 893
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -